Coal conveying gallery track inspection robot system and control method

Abstract

The invention discloses a coal conveying gallery track inspection robot system and a control method. The inspection robot system comprises a cloud platform; the cloud platform performs data synchronization and interaction with an arranged monitoring center; the data of the monitoring center comes from an arranged wireless base station; the data of the wireless base station comes from an inspection sensor carried on a robot body on the field of the coal conveying gallery; the robot body and the inspection sensor are powered by an arranged power supply system. A robot inspection mode is adopted to replace manual inspection, the inspection mode does not affect normal operation of the coal conveying system and can be complementary with the manual inspection, 24-hour uninterrupted operation is achieved, all-around and dead-corner-free safety inspection is carried out, and the safety coefficient and the working efficiency of the coal conveying gallery system are effectively improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of robots, and in particular relates to a coal conveyor corridor track inspection robot system and a control method. Background Art

[0002] At present, most of the inspection and maintenance work in places such as mine pump rooms, urban integrated pipe corridors, large conveyor belt tunnels, and coal transportation corridors is done manually. However, the complex environment and small space in these places make it difficult for manual inspections. At the same time, due to the low frequency and long intervals of manual inspections, when there is a problem with the equipment, the problem cannot be discovered in time, which leads to the expansion of the problem. Especially for coal transportation corridors, the internal light is generally dim, and there is often dust in the air, which not only reduces visibility, but also is not conducive to the health of inspection workers.

[0003] The coal transportation corridor is an important fuel transportation system for thermal power plants, coal mines and other enterprises. The environment and equipment issues in its operation process cannot be ignored. However, the environment in the coal transportation corridor is complex, and manual inspections take a lot of time. It is not only difficult to achieve comprehensive and timely prevention and control of safety risks, but also causes certain harm to human health.

[0004] The currently commonly used coal corridor track inspection robot system is not adaptable to the on-site working environment, which often causes the following inconveniences during user use: the equipment can only be operated manually in the remote control center, and the timeliness of the inspection cannot be guaranteed. The equipment has weak anti-interference performance, which often leads to communication data loss. Only video monitoring is available, and the on-site environmental temperature, humidity and air quality cannot be grasped. This is a potential health hazard for on-site workers. After the inspection finds an abnormality, it cannot be fed back to the coal conveyor belt and other production equipment in a timely manner. Summary of the invention

[0005] The present invention provides a coal transportation corridor track inspection robot system and control method. The use of this device and method can solve the shortcomings of the above-mentioned prior art and adopt robot inspection to replace manual inspection. This inspection method does not affect the normal operation of the coal transportation system, but can also complement manual inspection to achieve 24-hour uninterrupted operation, conduct all-round and no-dead-angle safety inspections, and effectively improve the safety factor and work efficiency of the coal transportation corridor system.

[0006] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a coal transportation corridor track inspection robot system, characterized in that: the inspection robot system includes a cloud platform; the cloud platform synchronizes and interacts with a set monitoring center; the data of the monitoring center comes from a set wireless base station; the data of the wireless base station comes from the inspection sensor mounted on the robot body at the coal transportation corridor site; the robot body and the inspection sensor are powered by a set power supply system.

[0007] Preferably, multiple wireless modes such as LORA, 2.4G, and 5G are set between the wireless base station and the robot body for data transmission.

[0008] Preferably, the inspection sensors include belt monitoring, thermal imaging warning, dust monitoring, toxic gas detection, and video surveillance.

[0009] Preferably, the robot body includes a track arranged at the upper part; a robot host is suspended at the lower part of the track through rubber wheels; a wireless charger is arranged on the robot host; a distance sensor is arranged on the robot host; and a travel sensor is arranged on the robot host.

[0010] Preferably, one distance sensor is provided on each side of the robot host.

[0011] Preferably, the robot host includes a walking mechanism driving wheel arranged on the upper part to drive its movement; a walking mechanism driven wheel parallel to the walking mechanism driving wheel is also arranged on the upper part of the robot host; an audible and visual alarm and an external lighting lamp are arranged on the robot host; a battery and a control circuit board are arranged inside the robot host; the walking mechanism driving wheel is connected to a motor and a reduction device inside the robot host; and an electronic tag detector is also arranged on the robot host.

[0012] Preferably, a travel sensor is connected to the outer side of the driven wheel of the walking mechanism.

[0013] Preferably, the sound and light alarm and the external lighting are provided one on each side of the robot host.

[0014] The present invention also discloses a control method for a coal conveyor corridor track inspection robot system, which is characterized in that: the control method includes the following control process: the inspection sensor detects various parameters of the coal conveyor corridor, and transmits the detected coal conveyor corridor parameter data to the robot body, the robot body transmits the data wirelessly to the wireless base station, the wireless base station transmits the data to the monitoring center, the monitoring center synchronizes the data to the cloud platform in real time to facilitate remote query and control, and the cloud platform can also transmit data to the monitoring center at the same time, the monitoring center determines whether there are any abnormalities in the data, and if any abnormalities are found, an audible and visual alarm signal is sent to the robot body, and a signal is sent to the linkage device.

[0015] Preferably, the control method includes two control modes, namely, a manual operation mode and an automatic inspection mode; in the manual operation mode, the robot body is directly controlled by the monitoring center, and after the task is completed, the robot body automatically enters a sleep state and waits for the next instruction from the monitoring center; in the automatic inspection mode, the monitoring center issues a preset task to the robot body, and the robot body enters an automatic operation mode. When the specified time or preset conditions are reached, the robot body automatically starts the inspection task and executes the preset tasks in a cycle in sequence.

[0016] Compared with the prior art, the invention has the following beneficial effects: the invention provides a coal corridor track inspection robot system and control method. The system supports two monitoring modes: remote manual operation and setting of automatic inspection schemes. The robot can automatically complete the inspection task and conduct all-weather, high-precision remote monitoring of the coal corridor environment and belt transportation status, with high safety. Multi-band wireless communication technology is used to improve communication reliability. The working site environmental parameters can be monitored in real time and an alarm can be issued. It can be linked with the production equipment at the working site.

[0017] Other features and advantages of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or related technologies, the drawings required for use in the embodiments or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0019] Figure 1 This is a schematic diagram of the composition of the inspection robot system of the present invention; Figure 2 This is a working state diagram of the inspection robot body of the present invention; Figure 3 This is a schematic diagram of the working process of the inspection robot system of the present invention; Figure 4 This is a schematic diagram of the dual working modes of the inspection robot of the present invention; Figure 5 This is a cross-sectional view of the inspection robot body of the present invention; In the figure: 1. cloud platform, 2. wireless base station, 3. power supply system, 4. inspection sensor, 5. robot body, 6. monitoring center, 51. track, 52. robot host, 53. wireless charger, 54. distance sensor, 55. stroke sensor, 56. rubber wheel, 521. driving wheel of walking mechanism, 522. sound and light alarm, 523. external lighting, 524. battery, 525. control circuit board, 526. motor and reduction device, 527. driven wheel of walking mechanism, 528. electronic tag detector. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] Unless otherwise specifically stated, the relative arrangement of the parts and steps described in these embodiments, numerical expressions and numerical values ​​do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be regarded as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0022] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0023] See also Figure 1-5 The present invention provides a technical solution: a coal transportation corridor track inspection robot system, the inspection robot system includes a cloud platform 1; the cloud platform 1 synchronizes and interacts with the set monitoring center 6; the data of the monitoring center 6 comes from the set wireless base station 2; the data of the wireless base station 2 comes from the inspection sensor 4 mounted on the robot body 5 at the coal transportation corridor site; the robot body 5 and the inspection sensor 4 are powered by the set power supply system 3.

[0024] The cloud platform 1 is the cloud, which is used to store the inspection data of the robot for remote viewing. The data of the cloud platform 1 is transmitted from the monitoring center 6, and the data of the monitoring center 6 is transmitted through the wireless network via the wireless base station 2 on site, and the data of the wireless base station 2 is sensed and detected by the robot on site through the inspection sensor 4. The power supply system 3 is the power supply network, which provides power support for the on-site inspection.

[0025] Multiple wireless modes such as LORA, 2.4G, and 5G are set between the wireless base station 2 and the robot body 5 for data transmission.

[0026] The communication system between the wireless base station 2 and the robot body 5 uses multi-band wireless communication technology. Due to the complex temperature, humidity and electromagnetic environment at the work site, the system presets multiple wireless modes such as LORA / 2.4G / 5G between the robot body 5 and the wireless base station 2 to avoid interference with the on-site communication signal to the greatest extent.

[0027] The inspection sensor 4 includes belt monitoring, thermal imaging warning, dust monitoring, toxic gas detection, and video monitoring. In order to comprehensively detect the environmental changes in the coal transportation corridor, various detection equipment are set up for the robot body 5 to drive and detect at the inspection site. For more comprehensive detection, other detection sensors can also be added.

[0028] The robot body 5 includes a track 51 arranged at the upper part; a robot host 52 is suspended at the lower part of the track 51 through a rubber wheel 56; a wireless charger 53 is arranged on the robot host 52; a distance sensor 54 is arranged on the robot host 52; and a stroke sensor 55 is arranged on the robot host 52. The robot body 5 mainly provides a safe reciprocating motion environment for the operation of the inspection sensor 4, wherein the track 51 provides a track moving in the air, avoiding the occurrence of some dangerous factors caused by the movement of the detection equipment on the ground. The robot host 52 of the entire robot body 5 is suspended at the lower part of the track 51 through the rubber wheel 56. In order to ensure that the robot has as little electric spark as possible when performing on-site detection, a wireless charger 53 is arranged in the robot body 5 for charging, and a distance sensor 54 is arranged on each side of the robot host 52. The distance sensor can be an infrared, laser, ultrasonic distance sensor, etc. The stroke sensor 5 is used to detect the distance of the robot host 2 moving forward or backward.

[0029] The robot host 52 includes a walking mechanism driving wheel 521 arranged at the upper part to drive the movement thereof; a walking mechanism driven wheel 527 arranged in parallel with the walking mechanism driving wheel 521 is also arranged at the upper part of the robot host 52; an audible and visual alarm 522 and an external lighting lamp 523 are arranged on the robot host 52; a battery 524 and a control circuit board 525 are arranged inside the robot host 52; the walking mechanism driving wheel 521 is connected to a motor and a reduction device 526 inside the robot host 52; and an electronic tag detector 528 is also arranged on the robot host 52. A travel sensor 55 is connected to the outer side of the walking mechanism driven wheel 527. The robot host 52 is powered by the internal battery 524, and the motor and the reduction device 526 provide power output to drive the walking mechanism driving wheel 521 to rotate to realize forward or backward movement. A travel sensor 55 is connected to the outer side of the walking mechanism driven wheel 527 to sense the travel distance, and a tag is arranged at a certain distance on the track 51, and the real-time position information of the robot host 52 is sensed and detected by the electronic tag detector 528 on the robot host 52.

[0030] The sound and light alarm 522 and the external lighting 523 are respectively provided on both sides of the robot main body 52. ​​If an alarm is required during the inspection, the sound and light alarm 522 can generate different colors and sound alarms to warn the inspection personnel, and the external lighting 523 is installed at the front and back to cooperate with the observation.

[0031] A control method for a coal conveyor corridor track inspection robot system, the control method includes the following control process: the inspection sensor 4 detects various parameters of the coal conveyor corridor, and transmits the detected coal conveyor corridor parameter data to the robot body 5, the robot body 5 transmits the data wirelessly to the wireless base station 2, the wireless base station 2 transmits the data to the monitoring center 6, the monitoring center 6 synchronizes the data to the cloud platform 1 in real time to facilitate remote query and control, and the cloud platform 1 can also transmit data to the monitoring center 6 at the same time, the monitoring center 6 determines whether there is any abnormality in the data, and if any abnormality is found, sends an audible and visual alarm signal to the robot body 5, and sends a signal to the linkage device.

[0032] The control method includes two control modes, namely manual operation mode and automatic inspection mode; in manual operation mode, the robot body 5 is directly controlled by the monitoring center 6. After the task is completed, the robot body 5 automatically enters a sleep state and waits for the next instruction from the monitoring center 6; in automatic inspection mode, the monitoring center 6 issues a preset task to the robot body 5, and the robot body 5 enters an automatic operation mode. When the specified time or preset conditions are reached, the robot body 5 automatically starts the inspection task and executes the preset tasks in sequence in a cycle.

[0033] Working principle: The coal transportation corridor track inspection robot system consists of six parts: wireless base station 2, power supply system 3, inspection sensor 4, robot body 5, monitoring center 6 and cloud platform 1.

[0034] The inspection sensor 4 collects the video, toxic gas, dust and belt status of the site, and transmits the data wirelessly to the wireless base station 2. The data is then transmitted to the monitoring center 6 through the network. The data of the monitoring center 6 is also synchronized to the cloud platform 1 in real time, which is convenient for customers to remotely query the site data.

[0035] The monitoring center 6 controls the robot body 5 on site in two working modes: manual operation and setting automatic inspection scheme mode ( Figure 4 ). When the manual operation mode is used, the robot body 5 on site is directly controlled by the monitoring center 6. After the task is completed, the robot body 5 automatically enters a dormant state and waits for the next instruction from the monitoring center 6.

[0036] When the automatic inspection mode is used, the monitoring center 6 issues a preset task to the robot body 5. The robot body 5 enters the automatic operation mode, and when the specified time or preset conditions are reached, the robot automatically starts the inspection task and executes the preset tasks in sequence.

[0037] When the inspection sensor 4 mounted on the robot body 5 detects an abnormal situation during the inspection process, the sound and light alarm 522 on the robot body 5 will sound an sound and light alarm to prompt the on-site staff to deal with it in time. At the same time, the system will determine whether the abnormal situation meets the shutdown conditions. If the conditions are met, the system will simultaneously send a shutdown instruction to the on-site working equipment through the monitoring center 6 to realize the function of equipment linkage ( Figure 3 ).

[0038] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A coal conveyor corridor track inspection robot system, characterized in that: The inspection robot system comprises a cloud platform (1); the cloud platform (1) performs data synchronization and interaction with a set monitoring center (6); the data of the cloud monitoring center (6) comes from a set wireless base station (2); the data of the wireless base station (2) comes from an inspection sensor (4) mounted on a robot body (5) at a coal transportation corridor site; the robot body (5) and the inspection sensor (4) are powered by a set power supply system (3).

2. A coal transportation corridor track inspection robot system according to claim 1, characterized in that: Multiple wireless modes such as LORA, 2.4G and 5G are arranged between the wireless base station (2) and the robot body (5) for data transmission.

3. A coal transportation corridor track inspection robot system according to claim 1, characterized in that: The inspection sensor (4) includes belt monitoring, thermal imaging early warning, dust monitoring, toxic gas detection, and video monitoring.

4. A coal transportation corridor track inspection robot system according to claim 1, characterized in that: The robot body (5) comprises a track (51) arranged at the top; a robot host (52) is suspended at the bottom of the track (51) via a rubber wheel (56); a wireless charger (53) is arranged on the robot host (52); a distance sensor (54) is arranged on the robot host (52); and a travel sensor (55) is arranged on the robot host (52).

5. A coal transportation corridor track inspection robot system according to claim 4, characterized in that: The distance sensor (45) is arranged one on each side of the robot host (52).

6. A coal transportation corridor track inspection robot system according to claim 4, characterized in that: The robot main body (52) comprises a walking mechanism driving wheel (521) arranged at the upper part thereof for driving the movement thereof; a walking mechanism driven wheel (527) arranged in parallel with the walking mechanism driving wheel (521) is also arranged at the upper part of the robot main body (52); an audible and visual alarm (522) and an external lighting lamp (523) are arranged on the robot main body (52); a battery (524) and a control circuit board (525) are arranged inside the robot main body (52); the walking mechanism driving wheel (521) is connected to a motor and a reduction device (526) inside the robot main body (52); and an electronic tag detector (528) is also arranged on the robot main body (52).

7. A coal transportation corridor track inspection robot system according to claim 6, characterized in that: The outer side of the driven wheel (527) of the walking mechanism is connected to a travel sensor (55).

8. A coal transportation corridor track inspection robot system according to claim 6, characterized in that: The sound and light alarm (522) and the external lighting lamp (523) are respectively arranged on both sides of the robot host (52).

9. A control method for a coal transportation corridor track inspection robot system according to any one of claims 1 to 8, characterized in that: The control method comprises the following control process: the inspection sensor (4) detects various parameters of the coal conveying corridor, transmits the detected coal conveying corridor parameter data to the robot body (5), the robot body (5) transmits the data to the wireless base station (2) in a wireless manner, the wireless base station (2) transmits the data to the monitoring center (6), the monitoring center (6) synchronizes the data to the cloud platform (1) in real time to facilitate remote query and control, and the cloud platform (1) can also transmit data to the monitoring center (6), the monitoring center (6) determines whether there is any abnormality in the data, and if an abnormality is found, sends an audible and visual alarm signal to the robot body (5), and sends a signal to the linkage device.

10. The control method of a coal transportation corridor track inspection robot system according to claim 9, characterized in that: The control method comprises two control modes, namely a manual operation mode and an automatic inspection mode; in the manual operation mode, the robot body (5) is directly controlled by the monitoring center (6), and after the task is completed, the robot body (5) automatically enters a dormant state and waits for the next instruction from the monitoring center (6); in the automatic inspection mode, the monitoring center (6) issues a preset task to the robot body (5), and the robot body (5) enters an automatic operation mode. When a specified time or preset conditions are reached, the robot body (5) automatically starts the inspection task and executes the preset tasks in sequence in a cyclic manner.

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